Consensus-based bi-directional CACC for vehicular platooning

Jeroen C. Zegers; Elham Semsar-Kazerooni; Jeroen Ploeg; Nathan Van De Wouw; Henk Nijmeijer

doi:10.1109/ACC.2016.7525305

Consensus-based bi-directional CACC for vehicular platooning

Jeroen C. Zegers, Elham Semsar-Kazerooni, Jeroen Ploeg, Nathan Van De Wouw, Henk Nijmeijer

Team Bart De Schutter

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

38 Citations (Scopus)

Abstract

In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for asymptotic platoon stability are proposed. As a particular case, these results allow to consider bi-directional vehicle interaction, which improves the coherence between the vehicles in the platoon. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.

Original language	English
Title of host publication	Proceedings of the American Control Conference (ACC 2016)
Editors	K. Johnson, G. Chiu, D. Abramovitch
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	2578-2584
ISBN (Electronic)	978-1-4673-8682-1
ISBN (Print)	978-1-4673-8683-8
DOIs	https://doi.org/10.1109/ACC.2016.7525305
Publication status	Published - 2016
Event	American Control Conference (ACC), 2016 - Boston, MA, United States Duration: 6 Jul 2016 → 8 Jul 2016

Conference

Conference	American Control Conference (ACC), 2016
Abbreviated title	ACC 2016
Country/Territory	United States
City	Boston, MA
Period	6/07/16 → 8/07/16

Keywords

Consensus
Distributed control
Intelligent transportation systems
Vehicular platooning

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10.1109/ACC.2016.7525305

Cite this

@inproceedings{f32b4673e6884fcabee8efc94f18f10a,

title = "Consensus-based bi-directional CACC for vehicular platooning",

abstract = "In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for asymptotic platoon stability are proposed. As a particular case, these results allow to consider bi-directional vehicle interaction, which improves the coherence between the vehicles in the platoon. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.",

keywords = "Consensus, Distributed control, Intelligent transportation systems, Vehicular platooning",

author = "Zegers, \{Jeroen C.\} and Elham Semsar-Kazerooni and Jeroen Ploeg and \{Van De Wouw\}, Nathan and Henk Nijmeijer",

year = "2016",

doi = "10.1109/ACC.2016.7525305",

language = "English",

isbn = "978-1-4673-8683-8",

pages = "2578--2584",

editor = "K. Johnson and G. Chiu and D. Abramovitch",

booktitle = "Proceedings of the American Control Conference (ACC 2016)",

publisher = "IEEE",

address = "United States",

note = "American Control Conference (ACC), 2016, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

}

Zegers, JC, Semsar-Kazerooni, E, Ploeg, J, Van De Wouw, N & Nijmeijer, H 2016, Consensus-based bi-directional CACC for vehicular platooning. in K Johnson, G Chiu & D Abramovitch (eds), Proceedings of the American Control Conference (ACC 2016). IEEE, Piscataway, NJ, USA, pp. 2578-2584, American Control Conference (ACC), 2016, Boston, MA, United States, 6/07/16. https://doi.org/10.1109/ACC.2016.7525305

Consensus-based bi-directional CACC for vehicular platooning. / Zegers, Jeroen C.; Semsar-Kazerooni, Elham; Ploeg, Jeroen et al.
Proceedings of the American Control Conference (ACC 2016). ed. / K. Johnson; G. Chiu; D. Abramovitch. Piscataway, NJ, USA: IEEE, 2016. p. 2578-2584.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Consensus-based bi-directional CACC for vehicular platooning

AU - Zegers, Jeroen C.

AU - Semsar-Kazerooni, Elham

AU - Ploeg, Jeroen

AU - Van De Wouw, Nathan

AU - Nijmeijer, Henk

PY - 2016

Y1 - 2016

N2 - In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for asymptotic platoon stability are proposed. As a particular case, these results allow to consider bi-directional vehicle interaction, which improves the coherence between the vehicles in the platoon. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.

AB - In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for asymptotic platoon stability are proposed. As a particular case, these results allow to consider bi-directional vehicle interaction, which improves the coherence between the vehicles in the platoon. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.

KW - Consensus

KW - Distributed control

KW - Intelligent transportation systems

KW - Vehicular platooning

UR - https://www.scopus.com/pages/publications/84992096729

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DO - 10.1109/ACC.2016.7525305

M3 - Conference contribution

AN - SCOPUS:84992096729

SN - 978-1-4673-8683-8

SP - 2578

EP - 2584

BT - Proceedings of the American Control Conference (ACC 2016)

A2 - Johnson, K.

A2 - Chiu, G.

A2 - Abramovitch, D.

PB - IEEE

CY - Piscataway, NJ, USA

T2 - American Control Conference (ACC), 2016

Y2 - 6 July 2016 through 8 July 2016

ER -

Consensus-based bi-directional CACC for vehicular platooning

Abstract

Conference

Keywords

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